Robust Tracking Controller for a DC/DC Buck-Boost Converter-Inverter-DC Motor System

This paper has two aims. The first is to develop a robust hierarchical tracking controller for the DC/DC Buck-Boost-inverter-DC motor system. This controller considers a high level control for the inverter-DC motor subsystems and a low level control for the DC/DC Buck-Boost converter subsystem. Such controls solve the tracking task associated with the angular velocity of the motor shaft and the output voltage of the converter, respectively, via the differential flatness approach. The second aim is to present a comparison of the robust hierarchical controller to a passive controller. This, with the purpose of showing that performance achieved with the hierarchical controller proposed in this paper, is better than the one achieved with the passive controller. Both controllers are experimentally implemented on a prototype of the DC/DC Buck-Boost-inverter-DC motor system by using Matlab-Simulink along with the DS1104 board from dSPACE. According to experimental results, the proposal in the present paper achieves a better performance than the passive controller.